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<h1>eul2r</h1><p><span class="helptopic">Convert Euler angles to rotation matrix</span></p><p>
<strong>R</strong> = <span style="color:red">eul2r</span>(<strong>phi</strong>, <strong>theta</strong>, <strong>psi</strong>, <strong>options</strong>) is an SO(3) orthonornal rotation
matrix (3x3) equivalent to the specified Euler angles.  These correspond
to rotations about the Z, Y, Z axes respectively. If <strong>phi</strong>, <strong>theta</strong>, <strong>psi</strong> are
column vectors (Nx1) then they are assumed to represent a trajectory and
<strong>R</strong> is a three-dimensional matrix (3x3xN), where the last index corresponds
to rows of <strong>phi</strong>, <strong>theta</strong>, <strong>psi</strong>.

</p>
<p>
<strong>R</strong> = <span style="color:red">eul2r</span>(<strong>eul</strong>, <strong>options</strong>) as above but the Euler angles are taken from the
vector (1x3)  <strong>eul</strong> = [<strong>phi</strong> <strong>theta</strong> <strong>psi</strong>]. If <strong>eul</strong> is a matrix (Nx3) then <strong>R</strong> is a
three-dimensional matrix (3x3xN), where the last index corresponds to
rows of RPY which are assumed to be [<strong>phi</strong>,<strong>theta</strong>,<strong>psi</strong>].

</p>
<h2>Options</h2>
<table class="list">
  <tr><td style="white-space: nowrap;" class="col1"> 'deg'</td> <td>Angles given in degrees (radians default)</td></tr>
</table>
<h2>Note</h2>
<ul>
  <li>The vectors PHI, THETA, PSI must be of the same length.</li>
</ul>
<h2>See also</h2>
<p>
<a href="eul2tr.html">eul2tr</a>, <a href="rpy2tr.html">rpy2tr</a>, <a href="tr2eul.html">tr2eul</a>, <a href="SO3.eul.html">SO3.eul</a></p>
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